Method and system for determining localization of a vehicle on a road

Abstract

A method, a non-transitory computer-readable storage medium, a system and a vehicle for determining localization of a vehicle on a road are disclosed. Map data with respect to at least one road, one or more lanes of the at least one road, and one or more exits from the at least one road are received. Furthermore, localization data indicating that the vehicle is localized on the at least one road, and positioning data indicating a position of the vehicle on the at least one road are obtained. From the map data and the positioning data, an upcoming exit from the at least one road is identified. Based on the localization data, the map data and the identified exit, it is determined that for the vehicle to exit the at least one road at the identified exit, leaving of a lane by the vehicle is required.

What is claimed is: 
     
         1 . A method for determining localization of a vehicle on a road, the method comprising:
 receiving map data with respect to at least one road, one or more lanes of the at least one road, and one or more exits from the at least one road;   obtaining localization data indicating that the vehicle is localized on the at least one road;   obtaining positioning data indicating a position of the vehicle on the at least one road;   identifying, from the map data and the positioning data, an upcoming exit from the at least one road;   determining, based on the localization data, the map data and the identified exit, that for the vehicle to exit the at least one road at the identified exit, leaving of a lane by the vehicle is required;   receiving sensor data from a sensor system of the vehicle; and   on condition that the sensor data indicate that leaving of a lane by the vehicle can be excluded, determining that the vehicle is still localized on the at least one road.   
     
     
         2 . The method of  claim 1 , further comprising:
 on condition that the sensor data indicate that leaving of a lane by the vehicle cannot be excluded, determining that it cannot be ensured that the vehicle is still localized on the at least one road.   
     
     
         3 . The method of  claim 1 , wherein the sensor data identify lane markings in a surrounding environment of the vehicle. 
     
     
         4 . The method of  claim 1 , wherein the received map data identify a geometry of the one or more lanes, the method further comprising:
 comparing the received sensor data with the received map data, wherein identification of an inconsistency between the received sensor data and the geometry of the one or more lanes is an indication that leaving of a lane by the vehicle cannot be excluded.   
     
     
         5 . The method of  claim 3 , wherein the received sensor data indicating crossing of a lane marking by the vehicle is an indication that leaving of a lane by the vehicle cannot be excluded. 
     
     
         6 . The method of  claim 1 , further comprising:
 identifying a side of the at least one road on which the exit is located,   wherein determining, based on the localization data and the map data, that for the vehicle to exit the at least one road at the identified exit, leaving of a lane by the vehicle is required comprises:
 determining, based on the localization data and the map data, that for the vehicle to exit the at least one road at the identified exit, leaving of a lane by the vehicle is required in a direction towards the side of the at least one road on which the identified exit is located, 
 the method further comprising:
 on condition that the sensor data indicate that leaving of a lane by the vehicle in a direction towards the side of the at least one road on which the identified exit is located can be excluded, determining that the vehicle is still localized on the at least one road. 
 
   
     
     
         7 . The method of  claim 1 , wherein the map data further identify a type of the at least one road. 
     
     
         8 . The method of  claim 7 , wherein at least one function of an automated driving system of the vehicle is restricted in relation to a type of road on which the vehicle is localized, and wherein the at least one road on which the vehicle is localized is of a type which allows the at least one function to be active, further comprising:
 on condition it is determined that the vehicle is still localized on the at least one road, allowing the at least one function to be active.   
     
     
         9 . The method of  claim 2 , further comprising:
 on condition it is determined that it cannot be ensured that the vehicle is still localized on the at least one road, deactivating the at least one function.   
     
     
         10 . The method of  claim 1 , wherein the localization data are based on a comparison of historical positioning data with the map data. 
     
     
         11 . A non-transitory computer-readable storage medium storing one or more programs configured to be executed by at least one processor of a system, the one or more programs comprising instructions for causing the system to perform the method for determining localization of a vehicle on a road, the method comprising:
 receiving map data with respect to at least one road, one or more lanes of the at least one road, and one or more exits from the at least one road;   obtaining localization data indicating that the vehicle is localized on the at least one road;   obtaining positioning data indicating a position of the vehicle on the at least one road;   identifying, from the map data and the positioning data, an upcoming exit from the at least one road;   determining, based on the localization data, the map data and the identified exit, that for the vehicle to exit the at least one road at the identified exit, leaving of a lane by the vehicle is required;   receiving sensor data from a sensor system of the vehicle; and   on condition that the sensor data indicate that leaving of a lane by the vehicle can be excluded, determining that the vehicle is still localized on the at least one road.   
     
     
         12 . A system for determining localization of a vehicle on a road, the system comprising:
 at least one processor;   at least one memory;   wherein the at least one processor is configured to execute instructions stored in the memory causing the system to perform a method comprising:
 receiving map data with respect to at least one road, one or more lanes of the at least one road, and one or more exits from the at least one road; 
 obtaining localization data indicating that the vehicle is localized on the at least one road; 
 obtaining positioning data indicating a position of the vehicle on the at least one road; 
 identifying, from the map data and the positioning data, an upcoming exit from the at least one road; 
 determining, based on the localization data, the map data and the identified exit, that for the vehicle to exit the at least one road at the identified exit, leaving of a lane by the vehicle is required; 
 receiving sensor data from a sensor system of the vehicle; and 
 on condition that the sensor data indicate that leaving of a lane by the vehicle can be excluded, determining that the vehicle is still localized on the at least one road. 
   
     
     
         13 . The system of  claim 12 , wherein the at least one processor is further configured to execute further instructions stored in the memory causing the system to perform the method further comprising:
 on condition that the sensor data indicate that leaving of a lane by the vehicle cannot be excluded, determining that it cannot be ensured that the vehicle is still localized on the at least one road.   
     
     
         14 . The system of  claim 12 , wherein the sensor data identify lane markings in a surrounding environment of the vehicle. 
     
     
         15 . A vehicle comprising the system for determining localization of a vehicle on a road, the system comprising:
 at least one processor;   at least one memory;   wherein the at least one processor is configured to execute instructions stored in the memory causing the system to perform a method comprising:
 receiving map data with respect to at least one road, one or more lanes of the at least one road, and one or more exits from the at least one road; 
 obtaining localization data indicating that the vehicle is localized on the at least one road; 
 obtaining positioning data indicating a position of the vehicle on the at least one road; 
 identifying, from the map data and the positioning data, an upcoming exit from the at least one road; 
 determining, based on the localization data, the map data and the identified exit, that for the vehicle to exit the at least one road at the identified exit, leaving of a lane by the vehicle is required; 
 receiving sensor data from a sensor system of the vehicle; and 
 on condition that the sensor data indicate that leaving of a lane by the vehicle can be excluded, determining that the vehicle is still localized on the at least one road.